It appears someone has over greased that joint & blew the rubber boot apart & in that low mileage shouldn't affect the steering. Yes it should be replaced as with dirt/road grime getting into it will wear faster, but it's not critical to do it immediately. There are numerous threads on this & other forums about upgrades to do to improve the poor ride quality of the FORD chassis.
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Fulltimed 10+ years
Sold '13 Thor Redwood 36 FB
Traded '13 GMC Denali DRW D/A
Replacement undetermined
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